Are there any ROS2 packages to perform 3D navigation?
Hi, I am working on a project with a quadruped robot that we want to use to perform inspection in a building with multiple floors. I am currently in the first phase of the project, so I am looking at state-of-the-art packages and algorithms to use. I have first tried 2D SLAM and navigation with Cartographer, RTAB-Map and Navigation2 Stack, and now I want to see if I can upgrade it to 3D SLAM and navigation.
I have seen that using Octomap and RTAB-Map for example you can perform 3D SLAM, but Navigation2 doesn't support 3D path planning by now, so I am a bit lost right now. Does anyone know good examples of 3D navigation in a multi floor building using quadruped robots? I have seen some with drones that may be useful, but anything about quadruped robots yet.
Thank you in advance for your help!
I have this exact same question and have been looking for a few days now without any luck. I’ve though of converting PointCloud-to-LaserScan and using that in my current setup but that doesn’t solve for the “parking deck” scenario. I was also thinking of stitching together multiple maps (for each floor and the ramps), but I’m not sure nav2 will like the unexpected inclines, and I don’t think the overlapping maps will work (not sure though). A 3D nav goal seems like the elegant solution but haven’t found anything. Can you share what you’ve found for drones so far?
Looking forward to hearing other's input